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WO2025089921A1 - Procédé de fabrication d'actionneur souple utilisant une impression 4d et encre associée - Google Patents

Procédé de fabrication d'actionneur souple utilisant une impression 4d et encre associée Download PDF

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Publication number
WO2025089921A1
WO2025089921A1 PCT/KR2024/096258 KR2024096258W WO2025089921A1 WO 2025089921 A1 WO2025089921 A1 WO 2025089921A1 KR 2024096258 W KR2024096258 W KR 2024096258W WO 2025089921 A1 WO2025089921 A1 WO 2025089921A1
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WO
WIPO (PCT)
Prior art keywords
architecture
ink
manufacturing
soft actuator
ndfeb
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2024/096258
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English (en)
Korean (ko)
Inventor
설승권
표재연
김정현
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea Electrotechnology Research Institute KERI
Original Assignee
Korea Electrotechnology Research Institute KERI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020240066543A external-priority patent/KR20250060797A/ko
Application filed by Korea Electrotechnology Research Institute KERI filed Critical Korea Electrotechnology Research Institute KERI
Publication of WO2025089921A1 publication Critical patent/WO2025089921A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/307—Handling of material to be used in additive manufacturing
    • B29C64/314—Preparation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C71/00—After-treatment of articles without altering their shape; Apparatus therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y70/00—Materials specially adapted for additive manufacturing
    • B33Y70/10—Composites of different types of material, e.g. mixtures of ceramics and polymers or mixtures of metals and biomaterials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y80/00—Products made by additive manufacturing
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D11/00—Inks
    • C09D11/02—Printing inks
    • C09D11/03—Printing inks characterised by features other than the chemical nature of the binder
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D11/00—Inks
    • C09D11/02—Printing inks
    • C09D11/10—Printing inks based on artificial resins
    • C09D11/106—Printing inks based on artificial resins containing macromolecular compounds obtained by reactions only involving carbon-to-carbon unsaturated bonds

Definitions

  • the present disclosure relates to a method for manufacturing a soft actuator using 4D printing and ink therefor.
  • Elastomer-based soft actuators have potential in a variety of fields, including wearable devices, biomimetics, grippers, artificial muscles, and robotics.
  • magnetoactive soft materials which are soft elastic composites filled with magnetic particles
  • MCMs magnetoactive soft materials
  • These magnetoactive soft materials exhibit magnetic anisotropy when the magnetic domains of the particles embedded in a nonmagnetic soft matrix are aligned.
  • the encoded magnetic anisotropy induces functional behavior (e.g., deformation or translation) through the control of an external magnetic field.
  • 4D printing which creates 3D architectures that can change shape in response to external stimuli using 3D printers and smart materials, is attracting great attention for creating soft actuators based on self-active soft materials.
  • 4D printing can be used to fabricate soft actuators with complex shapes.
  • an ink having excellent elasticity suitable for a soft actuator can be provided.
  • the profile of a pre-programmed 3D architecture can be reconstructed to improve usability.
  • a method for manufacturing a soft actuator using 4D printing comprising: a printing process for printing a 3D architecture using ink containing magnetic particles and a 3D printer; and a magnetizing process for magnetizing the 3D architecture so that the 3D architecture can be deformed into a pre-programmed profile by a magnetic field, wherein at least a portion of the ink is a NdFeB-Styrene Block Copolymers (SBS, SIS, SEBS) composite, and the 3D architecture is composed of a magnetoactive soft material.
  • SBS NdFeB-Styrene Block Copolymers
  • an ink for manufacturing a soft actuator using 4D printing comprising a NdFeB-Styrene Block Copolymers (SBS, SIS, SEBS) composite.
  • SBS NdFeB-Styrene Block Copolymers
  • the profile of a pre-programmed 3D architecture can be reconstructed to improve usability.
  • FIG. 1 is a flowchart of a method for manufacturing a soft actuator using 4D printing according to one embodiment of the present disclosure.
  • FIG. 2 is a diagram schematically illustrating a method for manufacturing a soft actuator using 4D printing according to one embodiment of the present disclosure.
  • FIG. 3 is a drawing showing the composition of NdFeB-SIS composite ink according to one embodiment of the present disclosure.
  • FIG. 4 is a shear stress-modulus graph and a shear rate-viscosity graph of an ink composed of a NdFeB-SIS composite according to one embodiment of the present disclosure.
  • FIG. 5 is a diagram illustrating a micro surface and configuration of a 3D architecture composed of a magnetically active soft material according to one embodiment of the present disclosure.
  • FIG. 6 is a weight percent-moment graph of an ink composed of a NdFeB-SIS composite according to one embodiment of the present disclosure.
  • FIG. 7 is a strain-tensile stress graph of a 3D architecture printed with ink including NdFeB magnetic particles according to one embodiment of the present disclosure.
  • FIG. 8 is a diagram showing the results of a tensile test of a 3D architecture printed with ink including NdFeB magnetic particles according to one embodiment of the present disclosure.
  • FIG. 9 is a diagram showing the results of a compression experiment of a 3D architecture printed with ink including NdFeB magnetic particles according to one embodiment of the present disclosure.
  • FIG. 10 is a diagram illustrating a method for reconstructing a magnetization profile of a 3D architecture according to one embodiment of the present disclosure.
  • FIG. 11 is a diagram showing various application examples of a soft actuator based on a magnetically active soft material according to one embodiment of the present disclosure.
  • FIG. 12 is a drawing showing an example in which a soft actuator according to one embodiment of the present disclosure is applied to a gripper.
  • FIG. 13 is a drawing showing an example in which a soft actuator according to one embodiment of the present disclosure is applied to a 3D electric switch.
  • ... unit a unit that processes at least one function or operation, and this can be implemented by hardware, software, or a combination of hardware and software.
  • FIG. 1 is a flowchart of a method for manufacturing a soft actuator using 4D printing according to one embodiment of the present disclosure.
  • FIG. 2 is a diagram schematically illustrating a method for manufacturing a soft actuator using 4D printing according to one embodiment of the present disclosure.
  • a method for manufacturing a soft actuator using 4D printing may include a process of printing a 3D architecture using ink (300, see FIG. 3) and a 3D printer (S110, (b) of FIG. 2), a process of magnetizing the 3D architecture so that the 3D architecture can be deformed into a pre-programmed profile by a magnetic field (S120, (c) of FIG. 2), a process of reconstructing a profile of the 3D architecture (S130), and a process of applying a magnetic field so that the 3D architecture is deformed into the pre-programmed profile (S140, (d) of FIG. 2).
  • the process of printing 3D architecture refers to the process of printing 3D architecture using ink containing magnetic particles and a 3D printer.
  • This printing process may be a direct ink writing (DIW) process that directly prints 3D architecture using ink, as illustrated in (b) of Fig. 2.
  • DIW direct ink writing
  • the process of magnetizing the 3D architecture so that the 3D architecture can be deformed into a pre-programmed profile by a magnetic field (S120) may be a process of putting the 3D architecture printed with ink including magnetic particles into a magnetizer and magnetizing it.
  • the process of magnetizing the 3D architecture may be a process of folding the 3D architecture into a pre-programmed profile and putting it into a magnetizer.
  • the 3D architecture may be magnetized using a high pulse magnetic field (Bm) of 2.7 T.
  • the 3D architecture may include one or more hinges. Since the hinges are formed together with the folding portion according to the deformation profile of the 3D architecture, the shape of the 3D architecture can be easily deformed. That is, a 3D architecture including one or more hinges can be printed using a 3D printer and ink.
  • the method for manufacturing a soft actuator using 4D printing according to the present disclosure may further include a process (S130) of reconstructing a profile of a 3D architecture.
  • a process (S130) of reconstructing a profile of a 3D architecture the magnetization profile of a 3D architecture that has already been magnetized and whose profile is programmed can be reconstructed.
  • the profile can be reconstructed by controlling the direction in which the 3D architecture is put into the magnetizer. Specific details of reconstructing the magnetization profile of the 3D architecture will be described later with reference to FIG. 10.
  • a magnetic field is applied to the magnetized 3D architecture (S140) to deform the 3D architecture into a pre-programmed profile (see Fig. 12, etc.).
  • the method for manufacturing a soft actuator using 4D printing prints a 3D architecture using ink containing magnetic particles and a 3D printer (S110), magnetizes the 3D architecture so that the 3D architecture can be deformed into a pre-programmed profile by a magnetic field (S120), and applies an external magnetic field to the magnetized 3D architecture (S130), so that the 3D architecture is deformed into the pre-programmed shape and functions as a soft actuator.
  • the magnetization profile of the 3D architecture can be reconstructed by controlling the direction in which the 3D architecture is put into the magnetizer.
  • FIG. 3 is a drawing showing the composition of NdFeB-SIS composite ink according to one embodiment of the present disclosure.
  • ink for a method of manufacturing a soft actuator using 4D printing is specifically described.
  • At least a portion of the ink (300) may be an NdFeB-SIS composite, an NdFeB-SEBS composite, or an NdFeB-SBS composite.
  • Nd represents neodymium
  • Fe represents iron
  • B represents boron
  • SIS represents styrene-isoprene-styrene
  • SEBS represents styrene-ethylene/butylene-styrene
  • SBS represents styrene-butadiene-styrene.
  • the ink (300) may be composed of NdFeB magnetic particles (310), an SIS, SEBS, or SBS soft matrix (320), and toluene as a solvent (300).
  • the mass percentage range of the NdFeB magnetic particles (310) of the ink (300) can be 45 wt % to 90 wt %.
  • the mass percentage of the NdFeB magnetic particles (310) of the ink (300) can be 75 wt %, and the mass percentage of the SIS, SEBS or SBS soft matrix (320) can be 25 wt %.
  • the 3D architecture can be composed of a magnetoactive soft material (MSM) because it includes magnetic particles, deforms into a pre-programmed profile when a magnetic field is applied, and has excellent elasticity as described below.
  • MSM magnetoactive soft material
  • the ink (300) according to the present disclosure may be partially composed of an NdFeB-SIS composite, an NdFeB-SEBS composite, or an NdFeB-SBS composite, and another part may be composed of another material, such as a conductive material.
  • another part is composed of a conductive material, it may be utilized as a 3D electric switch, etc.
  • Figure 4 shows a shear stress-modulus graph (a) and a shear rate-viscosity graph (b) of an ink composed of a NdFeB (75 wt%)-SIS (25 wt%) composite.
  • the rheological properties of the ink (300) according to the present disclosure are At the shear yield stress of the solid, Fluid-like in behavior It appears that the viscosity of the ink (300) exhibiting shear thinning behavior is changed to shear rate at This behavior of the ink (300) enables the additive deposition of the self-active soft material by inducing continuous supply of the ink (300) without clogging of the nozzle during printing. Accordingly, the printed 3D architecture can effectively maintain its shape without flowing down, making it suitable for 3D printing.
  • FIG. 5 shows the results of analyzing the micro surface and composition of a 3D architecture composed of a magnetically active soft material using FE-SEM (Field Emission Scanning Electron Microscopy) and EDX (Energy-Dispersive X-ray spectroscopy) according to one embodiment of the present disclosure.
  • NdFeB magnetic particles under high load 75 wt% of NdFeB magnetic particles under high load are uniformly distributed within the pattern. This means that no agglomeration occurred between the NdFeB particles during the magnetization process because the soft matrix composed of SIS fixed the positions of the magnetic particles.
  • the detection of neodymium (Nd), iron (Fe), and carbon (C) in the analysis results indicates that the 3D architecture includes NdFeB and SIS.
  • FIG. 6 is a graph showing the mass percent-moment analysis of a 3D architecture printed with ink composed of a NdFeB-SIS composite according to one embodiment of the present disclosure using a Vibrating Sample Magnetometer (VSM).
  • VSM Vibrating Sample Magnetometer
  • FIG. 7 is a strain-tensile stress graph of a 3D architecture printed with ink including NdFeB magnetic particles according to one embodiment of the present disclosure.
  • FIG. 8 is a diagram showing the results of a tensile test of a 3D architecture printed with ink including NdFeB magnetic particles according to one embodiment of the present disclosure.
  • FIG. 9 is a diagram showing the results of a compression experiment of a 3D architecture printed with ink including NdFeB magnetic particles according to one embodiment of the present disclosure.
  • a 3D architecture based on a magneto-active soft material in the shape of a dog bone was used, as shown in Fig. 7.
  • the tensile modulus of the linear elastic region is ⁇ 160 kPa, and the 3D architecture can be elongated by more than 1000% without any defects, as shown in Fig. 8(c).
  • the 3D architecture of the NdFeB-SIS based magneto-active soft material according to the present disclosure shows excellent stretchability.
  • the compression experiments used a cylindrical 3D architecture based on a magnetically active soft material.
  • the 3D architecture was compressed to a strain of 70% at 11 MPa. Even when the 3D architecture was compressed using a 900 kg vehicle, the 3D architecture fully withstood the load and gradually recovered to its original state without damage.
  • the magnetoactive soft material based on the NdFeB-SIS composite according to the present disclosure has a high degree of deformation freedom and also excellent mechanical properties, making it very suitable for implementing a robust soft actuator.
  • FIG. 10 is a diagram for explaining a method of reconstructing a magnetization profile of a 3D architecture according to one embodiment of the present disclosure.
  • (a) and (b) of FIG. 10 are front views and side views when the magnetic field is formed in a direction from bottom to top
  • (c) and (d) of FIG. 10 are front views and side views when the magnetic field is formed in a direction from right to left
  • (e) and (f) of FIG. 10 are front views and side views when the magnetic field is formed in a direction perpendicular to both the up-down direction and the left-right direction, that is, in a direction from left to right based on the side view.
  • the magnetization profile of the 3D architecture varies depending on the direction of the magnetic field (Bm) that magnetizes the 3D architecture based on the NdFeB-SIS composite, the NdFeB-SEBS composite, or the NdFeB-SBS composite, i.e., the direction in which the 3D architecture is put into the magnetizer. Therefore, the magnetization profile of the 3D architecture can be reconfigured by controlling the direction of the magnetic field (Bm) that magnetizes the 3D architecture and/or the direction in which the 3D architecture is put into the magnetizer. In this way, even if the magnetization profile has already been programmed, the soft actuator can be freely implemented by reconfiguring the magnetization profile of the 3D architecture, thereby improving the usability.
  • FIG. 11 is a diagram illustrating various application examples of a soft actuator based on a magnetically active soft material according to one embodiment of the present disclosure. As illustrated in FIG. 11, the soft actuator based on a magnetically active soft material according to the present disclosure can be configured with various profiles such as an accordion, a cube, and a pyramid.
  • FIG. 12 is a drawing showing an example in which a soft actuator according to one embodiment of the present disclosure is applied to a gripper.
  • the soft actuator according to the present disclosure may be applied to a gripper such as a finger-shaped gripper.
  • the soft actuator may be configured such that when a magnetic field of 35.77 mT is applied, the finger-shaped components shrink toward the center to grip an object, and conversely, when a magnetic field of -35.77 mT is applied, the shrinking finger-shaped components spread out again to put down the object.
  • FIG. 13 is a drawing showing an example in which a soft actuator according to one embodiment of the present disclosure is applied to a 3D electric switch.
  • the soft actuator according to the present disclosure can be stretched when a magnetic field is applied, and the stretched soft actuator can be deformed to tilt in various directions depending on the direction or strength of the magnetic field.
  • the soft actuator (3D architecture) according to the present disclosure may be partially composed of a magnetoactive soft material and partially composed of a conductive material.
  • a part of the soft actuator is composed of a magnetoactive soft material and is deformed to unfold and tilt in various directions depending on a magnetic field, and the other part is composed of a conductive material, so that the part of the soft actuator composed of the conductive material can come into contact with terminals arranged in various directions to function as a 3D electrical switch.
  • Various implementations of the systems and techniques described herein can be implemented as digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. These various implementations can include implementations of one or more computer programs executable on a programmable system.
  • the programmable system includes at least one programmable processor (which may be a special purpose processor or a general purpose processor) coupled to receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
  • Computer programs also known as programs, software, software applications, or code
  • a computer-readable recording medium includes any type of recording device that stores data that can be read by a computer system.
  • a computer-readable recording medium can be a non-volatile or non-transitory medium, such as a ROM, a CD-ROM, a magnetic tape, a floppy disk, a memory card, a hard disk, a magneto-optical disk, a storage device, and may further include a transitory medium, such as a data transmission medium.
  • the computer-readable recording medium can be distributed over a network-connected computer system, so that the computer-readable code can be stored and executed in a distributed manner.
  • a programmable computer wherein the computer includes a programmable processor, a data storage system (including volatile memory, nonvolatile memory, or other types of storage systems, or a combination thereof), and at least one communication interface.
  • the programmable computer can be one of a server, a network appliance, a set-top box, an embedded device, a computer expansion module, a personal computer, a laptop, a Personal Data Assistant (PDA), a cloud computing system, or a mobile device.
  • PDA Personal Data Assistant

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Abstract

L'invention concerne un procédé de fabrication d'un actionneur souple utilisant une impression 4D, et une encre associée. Selon un mode de réalisation de la présente divulgation, le procédé de fabrication d'un actionneur souple au moyen d'une impression 4D comprend: une étape d'impression consistant à imprimer une architecture 3D au moyen d'une imprimante 3D et d'une encre comprenant des particules magnétiques; et une étape de magnétisation consistant à magnétiser l'architecture 3D de sorte que l'architecture 3D peut être transformée en un profil préprogrammé par un champ magnétique, au moins une partie de l'encre étant un matériau composite de copolymère séquencé de NdFeB-styrène (SBS, SIS, SEBS), et l'architecture 3D étant composée d'un matériau souple magnétiquement actif.
PCT/KR2024/096258 2023-10-26 2024-10-10 Procédé de fabrication d'actionneur souple utilisant une impression 4d et encre associée Pending WO2025089921A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2023-0144525 2023-10-26
KR20230144525 2023-10-26
KR1020240066543A KR20250060797A (ko) 2023-10-26 2024-05-22 4d 프린팅을 이용한 소프트 액추에이터의 제조방법 및 이를 위한 잉크
KR10-2024-0066543 2024-05-22

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WO2025089921A1 true WO2025089921A1 (fr) 2025-05-01

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140225691A1 (en) * 2013-02-08 2014-08-14 Anden Co., Ltd. Solenoid device and solenoid control system
US20160297104A1 (en) * 2013-11-19 2016-10-13 Guill Tool & Engineering Coextruded, multilayer and multicomponent 3d printing inputs field
US20200223099A1 (en) * 2018-04-03 2020-07-16 Massachusetts Institute Of Technology Programmable soft materials containing ferromagnetic domains and methods of making
CN115403888B (zh) * 2022-09-16 2023-07-18 合肥工业大学 一种4d打印墨水的制备方法及其应用
CN116855131A (zh) * 2023-06-01 2023-10-10 苏州磁亿电子科技有限公司 一种re金属油墨及制备方法、制备钕铁硼磁体的方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140225691A1 (en) * 2013-02-08 2014-08-14 Anden Co., Ltd. Solenoid device and solenoid control system
US20160297104A1 (en) * 2013-11-19 2016-10-13 Guill Tool & Engineering Coextruded, multilayer and multicomponent 3d printing inputs field
US20200223099A1 (en) * 2018-04-03 2020-07-16 Massachusetts Institute Of Technology Programmable soft materials containing ferromagnetic domains and methods of making
CN115403888B (zh) * 2022-09-16 2023-07-18 合肥工业大学 一种4d打印墨水的制备方法及其应用
CN116855131A (zh) * 2023-06-01 2023-10-10 苏州磁亿电子科技有限公司 一种re金属油墨及制备方法、制备钕铁硼磁体的方法

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